FIX: fixed the problem that the rtos sample can not run normally on M300 RTK extension port

Signed-off-by: DJI-Martin <DJI-Martin@dji.com>

psdk_lib/include/dji_version.h

@@ -37,7 +37,7 @@ extern "C" {
 #define DJI_VERSION_MINOR     3 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
 #define DJI_VERSION_MODIFY    0 /*!< DJI SDK modify version num, when have backwards compatible bug fixes changes. Range from 0 to 99. */
 #define DJI_VERSION_BETA      0 /*!< DJI SDK version beta info, release version will be 0, when beta version release changes. Range from 0 to 255. */
-#define DJI_VERSION_BUILD     1697 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
+#define DJI_VERSION_BUILD     1702 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
 
 /* Exported types ------------------------------------------------------------*/
 

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/FreeRTOSConfig.h

@@ -64,7 +64,7 @@
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
 #define configMAX_PRIORITIES                     ( 7 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE                    ((size_t)64000)
+#define configTOTAL_HEAP_SIZE                    ((size_t)75000)
 #define configMAX_TASK_NAME_LEN                  ( 16 )
 #define configUSE_16_BIT_TICKS                   0
 #define configUSE_MUTEXES                        1

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/application.c

@@ -62,11 +62,11 @@
 #define RUN_INDICATE_TASK_FREQ_0D1HZ      0.1f
 
 #define DJI_USE_WIDGET_INTERACTION        0
-#define DJI_EXTENSION_PORT_SUPPORT        0
 
 /* Private types -------------------------------------------------------------*/
 
 /* Private values -------------------------------------------------------------*/
+static bool s_isApplicationStart = false;
 
 /* Private functions declaration ---------------------------------------------*/
 static T_DjiReturnCode DjiUser_PrintConsole(const uint8_t *data, uint16_t dataLen);
@@ -113,8 +113,8 @@ void DjiUser_StartTask(void const *argument)
     UART_Init(DJI_CONSOLE_UART_NUM, DJI_CONSOLE_UART_BAUD);
     Led_Init(LED3);
 
-//Attention: if you want to run payload sdk on extension port, please define the macro DJI_EXTENSION_PORT_SUPPORT.
+//Attention: if you want to run payload sdk on extension port, please define the macro USE_USB_HOST_UART.
-#if DJI_EXTENSION_PORT_SUPPORT
+#if USE_USB_HOST_UART
     MX_USB_HOST_Init();
     Osal_TaskSleepMs(2000);
 #endif
@@ -169,7 +169,7 @@ void DjiUser_StartTask(void const *argument)
 
     returnCode = DjiTest_RegApplyHighPowerHandler(&applyHighPowerHandler);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        USER_LOG_ERROR("regsiter apply high power handler error");
+        USER_LOG_ERROR("register apply high power handler error");
     }
 
     returnCode = DjiTest_PowerManagementStartService();
@@ -178,27 +178,12 @@ void DjiUser_StartTask(void const *argument)
     }
 #endif
 
-#ifdef CONFIG_MODULE_SAMPLE_CAMERA_ON
-    returnCode = DjiTest_CameraEmuBaseStartService();
-    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        USER_LOG_ERROR("camera emu common init error");
-        goto out;
-    }
-#endif
-
 #ifdef CONFIG_MODULE_SAMPLE_WIDGET_ON
-#if DJI_USE_WIDGET_INTERACTION
-    returnCode = DjiTest_WidgetInteractionStartService();
-    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        USER_LOG_ERROR("widget sample init error");
-    }
-#else
     returnCode = DjiTest_WidgetStartService();
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("widget sample init error");
     }
 #endif
-#endif
 
 #ifdef CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
     returnCode = DjiTest_DataTransmissionStartService();
@@ -214,6 +199,15 @@ void DjiUser_StartTask(void const *argument)
     }
 #endif
 
+#if !USE_USB_HOST_UART
+#ifdef CONFIG_MODULE_SAMPLE_CAMERA_ON
+    returnCode = DjiTest_CameraEmuBaseStartService();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("camera emu common init error");
+        goto out;
+    }
+#endif
+
 #ifdef CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
     if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
         aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
@@ -287,6 +281,7 @@ void DjiUser_StartTask(void const *argument)
         DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         printf("psdk upgrade init error");
     }
+#endif
 #endif
 
     returnCode = DjiCore_ApplicationStart();
@@ -294,6 +289,8 @@ void DjiUser_StartTask(void const *argument)
         USER_LOG_ERROR("start sdk application error");
     }
 
+    s_isApplicationStart = true;
+
     while (1) {
         Osal_TaskSleepMs(500);
         Led_Trigger(LED3);
@@ -325,8 +322,11 @@ void DjiUser_MonitorTask(void const *argument)
 #endif
 
     while (1) {
-        Osal_TaskSleepMs(1000 / RUN_INDICATE_TASK_FREQ_1HZ);
+        Osal_TaskSleepMs(1000 / RUN_INDICATE_TASK_FREQ_0D1HZ);
 
+        if (s_isApplicationStart == false) {
+            continue;
+        }
         // report UART buffer state
 #ifdef USING_UART_PORT_1
         UART_GetBufferState(UART_NUM_1, &readBufferState, &writeBufferState);
@@ -385,7 +385,7 @@ void DjiUser_MonitorTask(void const *argument)
             lastTaskStatusArraySize = currentTaskStatusArraySize;
 #endif
         }
-        USER_LOG_DEBUG("used heap size: %d/%d.\r\n", configTOTAL_HEAP_SIZE - xPortGetFreeHeapSize(),
+        USER_LOG_INFO("Used heap size: %d/%d.\r\n", configTOTAL_HEAP_SIZE - xPortGetFreeHeapSize(),
                       configTOTAL_HEAP_SIZE);
     }
 }

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/dji_sdk_config.h

@@ -36,19 +36,19 @@ extern "C" {
 /* Exported constants --------------------------------------------------------*/
 #define CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
 
+#define CONFIG_MODULE_SAMPLE_WIDGET_ON
+
 #define CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
 
-#define CONFIG_MODULE_SAMPLE_WIDGET_ON
+#define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
 
 #define CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
 
 #define CONFIG_MODULE_SAMPLE_CAMERA_ON
 
-#define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
-
 #define CONFIG_MODULE_SAMPLE_XPORT_ON
 
-//#define CONFIG_MODULE_SAMPLE_UPGRADE_ON
+#define CONFIG_MODULE_SAMPLE_UPGRADE_ON
 
 /*!< Attention: Please uncomment it in gps environment.
 * */

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/main.c

@@ -29,7 +29,7 @@
 #include "task.h"
 
 /* Private constants ---------------------------------------------------------*/
-#define USER_START_TASK_STACK_SIZE          1024
+#define USER_START_TASK_STACK_SIZE          2048
 #define USER_START_TASK_PRIORITY            0
 #define USER_RUN_INDICATE_TASK_STACK_SIZE   256
 #define USER_RUN_INDICATE_TASK_PRIORITY     0

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/drivers/BSP/uart.c

@@ -34,19 +34,17 @@
 
 /* Private typedef -----------------------------------------------------------*/
 
-
 /* Private define ------------------------------------------------------------*/
 //uart uart buffer size define
-#define UART1_READ_BUF_SIZE      1024
+#define UART1_READ_BUF_SIZE      64
-#define UART1_WRITE_BUF_SIZE     4096
+#define UART1_WRITE_BUF_SIZE     64
-#define UART2_READ_BUF_SIZE      2048
+#define UART2_READ_BUF_SIZE      64
 #define UART2_WRITE_BUF_SIZE     2048
-#define UART3_READ_BUF_SIZE      1024
+#define UART3_READ_BUF_SIZE      4096
-#define UART3_WRITE_BUF_SIZE     1024
+#define UART3_WRITE_BUF_SIZE     2048
 
 /* Private macro -------------------------------------------------------------*/
 
-
 /* Private variables ---------------------------------------------------------*/
 #ifdef USING_UART_PORT_1
 //UART1 read ring buffer structure
@@ -58,9 +56,9 @@ static T_RingBuffer s_uart1WriteRingBuffer;
 //USART1 write buffer state
 static T_UartBufferState s_uart1WriteBufferState;
 //UART1 read buffer
-static uint8_t s_uart1ReadBuf[UART1_READ_BUF_SIZE];
+CCMRAM static uint8_t s_uart1ReadBuf[UART1_READ_BUF_SIZE];
 //UART1 write buffer
-static uint8_t s_uart1WriteBuf[UART1_WRITE_BUF_SIZE];
+CCMRAM static uint8_t s_uart1WriteBuf[UART1_WRITE_BUF_SIZE];
 
 //UART1 mutex
 static T_DjiMutexHandle s_uart1Mutex;
@@ -73,8 +71,8 @@ static T_RingBuffer s_uart2ReadRingBuffer;
 static T_UartBufferState s_uart2ReadBufferState;
 static T_RingBuffer s_uart2WriteRingBuffer;
 static T_UartBufferState s_uart2WriteBufferState;
-static uint8_t s_uart2ReadBuf[UART2_READ_BUF_SIZE];
+CCMRAM static uint8_t s_uart2ReadBuf[UART2_READ_BUF_SIZE];
-static uint8_t s_uart2WriteBuf[UART2_WRITE_BUF_SIZE];
+CCMRAM static uint8_t s_uart2WriteBuf[UART2_WRITE_BUF_SIZE];
 
 static T_DjiMutexHandle s_uart2Mutex;
 static UART_HandleTypeDef s_uart2Handle;
@@ -85,8 +83,8 @@ static T_RingBuffer s_uart3ReadRingBuffer;
 static T_UartBufferState s_uart3ReadBufferState;
 static T_RingBuffer s_uart3WriteRingBuffer;
 static T_UartBufferState s_uart3WriteBufferState;
-static uint8_t s_uart3ReadBuf[UART3_READ_BUF_SIZE];
+CCMRAM static uint8_t s_uart3ReadBuf[UART3_READ_BUF_SIZE];
-static uint8_t s_uart3WriteBuf[UART3_WRITE_BUF_SIZE];
+CCMRAM static uint8_t s_uart3WriteBuf[UART3_WRITE_BUF_SIZE];
 
 static T_DjiMutexHandle s_uart3Mutex;
 static UART_HandleTypeDef s_uart3Handle;

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h

@@ -280,6 +280,8 @@ void HAL_DisableMemorySwappingBank(void);
   * @}
   */
 /* Private macros ------------------------------------------------------------*/
+#define CCMRAM __attribute__((section(".ccmram")))
+
 /* Private functions ---------------------------------------------------------*/
 /**
   * @}

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/middlewares/ST/STM32_USB_Host_Library/Class/CDC/Src/usbh_cdc.c

@@ -146,8 +146,8 @@ USBH_ClassTypeDef CDC_Class =
 
 QueueHandle_t ACMDataRecvQueue;
 QueueHandle_t ACMDataSendQueue;
-#if DJI_EXTENSION_PORT_SUPPORT
+#if USE_USB_HOST_UART
-static uint8_t cdcBuff[1024];
+CCMRAM static uint8_t cdcBuff[1024];
 #endif
 
 void USBH_CDC_DataQueueInit(void)
@@ -372,7 +372,7 @@ static USBH_StatusTypeDef USBH_CDC_Process(USBH_HandleTypeDef *phost)
     CDC_HandleTypeDef *CDC_Handle = (CDC_HandleTypeDef *) phost->pActiveClass->pData;
 
     if (CDC_Handle->data_rx_state == CDC_IDLE) {
-#if DJI_EXTENSION_PORT_SUPPORT
+#if USE_USB_HOST_UART
         USBH_CDC_Receive(phost, cdcBuff, sizeof(cdcBuff));
 #endif
     }

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/armgcc/stm32f4discovery.cfg

@@ -1,9 +1,9 @@
 # This is an STM32F4 discovery board with a single STM32F407VGT6 chip.
 # http://www.st.com/internet/evalboard/product/252419.jsp
 
-source [find interface/stlink-v2-1.cfg]
+source [find interface/jlink.cfg]
 
-transport select hla_swd
+transport select swd
 
 # increase working area to 64KB
 set WORKAREASIZE 0x10000